Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner

ABSTRACT

A detection assembly, a robotic vacuum cleaner, a walking floor status detection method and a control method are provided. The detection assembly includes optical transmitters, one optical receiver and an assembly body. The optical transmitters and the optical receiver are all mounted on the assembly body, and optical transmitters, the one receiver and the assembly body are integrated into one piece.

CROSS-REFERENCES TO RELATED APPLICATIONS

The present disclosure is a national phase application of InternationalApplication No. PCT/CN2019/112730, filed Oct. 23, 2019, which claimspriority to and benefits of Chinese Patent Application Serial No.201910182094.1, filed on Mar. 11, 2019, and Chinese Patent ApplicationSerial No. 201910186507.3, filed on Mar. 12, 2019, the entireties ofwhich are herein incorporated by reference.

FIELD

The present application relates to the field of robotic vacuum cleaners,and more particularly to a detection assembly for a robotic vacuumcleaner, a robotic vacuum cleaner, a walking floor status detectionmethod for a robotic vacuum cleaner, and a control method for a roboticvacuum cleaner.

BACKGROUND

With development of technologies, robotic vacuum cleaners as cleaningmachines enter thousands of households. However, intelligence of roboticvacuum cleaners is still limited. For example, they cannot avoidobstacles in home intelligently, and usually perform obstacle avoidancethrough perception after collision, thus damage to furniture, vases,etc. often occurs, bringing some troubles to consumers.

In related art, some manufactures contrast indoor obstacles throughultrasonic sensors, infrared sensors, collision switches, lidars andvisions. However, following problems exist in the related art: (1)ultrasonic sensors: they are greatly affected by temperature andhumidity, and have low measurement accuracy; (2) lidars: single-pointlasers have a small measurement range and a poor electric motor; (3)infrared sensors: they are greatly affected by light, have narrow beamangle and a small measurement range; (4) collision switches: they employcontact measurement, and easily cause damage to robotic vacuum cleanersand indoor household items. (5) monocular vision cannot measure depthinformation of obstacles; (6) binocular vision has complex calculationsand poor real-time ability; (7) depth cameras have small field of viewand a narrow measurement range.

SUMMARY

The present application seeks to solve at least one of the problemsexisting in the related art to at least some extent.

In view of this, the present application proposes a detection assemblyfor a robotic vacuum cleaner which can perform distance measurement bymeasuring time difference between photon transmission and reception, andwill not be affected by light dissipation intensity like infrared.

A second aspect of the present application proposes a robotic vacuumcleaner.

A third aspect of the present application proposes a method fordetecting walking floor status of the above-described robotic vacuumcleaner.

A fourth aspect of the present application proposes a method forcontrolling the above-described robotic vacuum cleaner.

A detection assembly for a robotic vacuum cleaner according to the firstaspect of the present application includes a plurality of opticaltransmitters, one optical receiver and a detection assembly body. Theoptical transmitters and the optical receiver are all mounted on thedetection assembly body, and the plurality of optical transmitters, theone optical receiver and the detection assembly body are integrated intoone piece.

The detection assembly for the robotic vacuum cleaner according toembodiments of the present application performs distance measurement bymeasuring time difference between photon transmission and reception, andwill not be affected by light dissipation intensity like infrared.

Additionally, the detection assembly for the robotic vacuum cleaneraccording to embodiments of the present application may further have thefollowing additional features.

According an example of the present application, the opticaltransmitters and the optical receiver each employ a time of flightsensor and/or an optical tracing sensor.

According an example of the present application, the plurality ofoptical transmitters are located in a same horizontal plane, the opticalreceiver and the optical transmitters are not located in a samehorizontal plane, and the optical receiver is located at a middle areabetween the optical transmitters located at left and right extremepositions.

According an example of the present application, the detection assemblyfurther includes a plurality of charging alignment devices alsointegrated on the detection assembly body.

According an example of the present application, the charging alignmentdevices and the optical transmitters are not located in a samehorizontal plane.

According an example of the present application, relative distancebetween two adjacent optical transmitters is less than 50 mm.

According an example of the present application, a normal angle betweentwo adjacent optical transmitters is greater than 0° and less than 90°.

A robotic vacuum cleaner according to the second aspect of the presentapplication includes a machine body and a walking floor status detectionsystem. The walking floor status detection system includes a detectionassembly according to the first aspect of the present application, thedetection assembly being located at a front part of the machine body ofthe robotic vacuum cleaner; a detection circuit electrically coupled tothe optical receiver, to calculate and process an electrical signal ofthe optical receiver and generate an output signal; and a controllerelectrically coupled to the optical receiver, to receive the outputsignal and convert the output signal into a spacing value between thedetection assembly and an external reflection face.

Additionally, the robotic vacuum cleaner according to the second aspectof the present application may further have the following additionalfeatures.

According an example of the present application, on basis of theexternal reflection face being an obstacle, the controller is configuredto determine that the obstacle is present when the spacing value betweenthe detection assembly and the external reflection face falls within apreset threshold range, and determine that the obstacle is not presentwhen the spacing value between the detection assembly and the externalreflection face does not fall within the preset threshold range.

According an example of the present application, on basis of theexternal reflection face being a walking floor, the controller isconfigured to determine that the walking floor is even when a spacingvalue between the detection assembly and the external reflection facefalls within a preset threshold range, and determine that the walkingfloor is not even when the spacing value between the detection assemblyand the external reflection face does not fall within the presetthreshold range.

According an example of the present application, the controller isconfigured to send a stop instruction or a turn instruction when theobstacle is present or the walking floor is not even, to control therobotic vacuum cleaner to stop moving or turn.

According an example of the present application, the machine bodyincludes a movable body configured for movement of the robotic vacuumcleaner; and a protective casing movably mounted on an outer side of themovable body and configured to reduce a distance from a top of themovable body from a first distance to a second distance under action ofa top obstacle. The robotic vacuum cleaner further includes a firstsensing device at least partially located between the movable body andthe protective casing, and configured to generate a first detectionsignal indicating that the top obstacle is detected when the distancebetween the protective casing and the top of the movable body is reducedfrom the first distance to the second distance; and the controller iscoupled to the first sensing device, located in the movable body, andconfigured to control the movable body to retreat according to the firstdetection signal.

According an example of the present application, the first sensingdevice includes a mechanical switch located between the movable body andthe protective casing and configured to generate the first detectionsignal when the distance between the protective casing and the top ofthe movable body is less than the first distance, and send the firstdetection signal to the controller.

According an example of the present application, the protective casingis an arc-shaped protective casing at least having a first surface andan arc-shaped peripheral surface and located at a forward end of themovable body; the first surface is covered on the top of the movablebody; and the arc-shaped peripheral surface is coupled to the firstsurface, and covered on a side face of the movable body.

According an example of the present application, the arc-shapedperipheral surface includes a first area located at a first end portionof the arc-shaped peripheral surface; a second area located at a secondend portion of the arc-shaped peripheral surface, the second end portionbeing an opposite end of the first end portion; and a third area locatedbetween the first area and the second area. The detection assembly is atleast partially exposed at an outer side of the third area of thearc-shaped peripheral surface and configured to detect an obstacleahead.

According an example of the present application, the plurality ofoptical transmitters are located in a first plane, and configured totransmit a second detection signal for the obstacle ahead; at least oneoptical receiver is located in a second plane and configured to receivea feedback signal returned by the obstacle ahead where the seconddetection signal is acted on; the second plane is parallel to the firstplane.

According an example of the present application, the detection assemblyfurther includes at least two charging alignment devices exposed throughthe arc-shaped peripheral surface of the protective casing and locatedin a third plane parallel to the first plane and the second plane.

According an example of the present application, the at least twooptical transmitters are configured to transmit the second detectionsignal according to a rotational sequence; the controller is configuredto determine a parameter of the obstacle ahead according to the feedbacksignal submitted by the at least one optical transmitter and the opticaltransmitter whose second detection signal corresponds to the feedbacksignal, and control the robotic vacuum cleaner to move forward accordingto the parameter of the obstacle ahead.

According an example of the present application, the parameter of theobstacle ahead includes at least one of: an indication parameterindicating whether there is an obstacle at a predetermined distanceahead; a distance of the obstacle ahead relative to the robotic vacuumcleaner; and an angle of the obstacle ahead relative to the roboticvacuum cleaner; and/or, the controller is configured to adjust a forwarddirection and/or a forward speed of the robotic vacuum cleaner accordingto the parameter of the obstacle ahead.

A method for detecting a walking floor status of a robotic vacuumcleaner (which is a robotic vacuum cleaner according to the secondaspect of the present application) according to the third aspect of thepresent application includes: transmitting test light towards theexternal reflection face; receiving light reflected by the externalreflection face, and converting a light intensity signal of the lightinto an electrical signal; calculating and processing the electricalsignal, and sending an output signal; and converting the output signalinto a spacing value between the detection assembly and the externalreflection face, and determining positional information of the externalreflection face according to whether the spacing value falls within apreset threshold range.

A method for controlling a robotic vacuum cleaner (which is a roboticvacuum cleaner according to the second aspect of the presentapplication) according to the fourth aspect of the present applicationincludes: when a protective casing of the robotic vacuum cleaner isunder action of a top obstacle, and a distance between the protectivecasing of the robotic vacuum cleaner and a top of the movable body ofthe robotic vacuum cleaner is reduced from a first distance to a seconddistance, a first sensing device at least partially located at theprotective casing and the top of the movable body generating a firstdetection signal indicating that the top obstacle is detected; andcontrolling the robotic vacuum cleaner to retreat according to the firstdetection signal.

According an example of the present application, the control methodfurther includes: using the detection assembly exposed on the arc-shapedperipheral surface of the protective casing of the robotic vacuumcleaner to transmit a second detection signal for detection of anobstacle ahead; using the detection assembly to receive a feedbacksignal returned on basis of the second detection signal; determining aparameter of the obstacle ahead on basis of the second detection signaland the feedback signal; and controlling the robotic vacuum cleaner tomove forward according to the parameter of the obstacle ahead.

According an example of the present application, the step of using thedetection assembly exposed on the arc-shaped peripheral surface of theprotective casing of the robotic vacuum cleaner to transmit a seconddetection signal for detection of an obstacle ahead includes: at leasttwo optical transmitters on the arc-shaped peripheral surface of therobotic vacuum cleaner transmitting the second detection signalaccording to a rotational sequence by utilizing a circuit; and the stepof determining a parameter of the obstacle ahead on basis of the seconddetection signal and the feedback signal includes: determining theparameter of the obstacle ahead according to the feedback signalsubmitted by the at least one transmitter and the transmitter whosesecond detection signal corresponds to the feedback signal.

Embodiments of the present application will be given in part in thefollowing descriptions, become apparent in part from the followingdescriptions, or be learned from the practice of the presentapplication.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of a detection assembly for a robotic vacuumcleaner according to an embodiment of the present application.

FIG. 2 is a schematic view of a layout positional relationship of amultiple-channel TOF sensor according to an embodiment of the presentapplication.

FIG. 3 is a schematic view showing a position of a detection assemblymounted on a robotic vacuum cleaner according to some embodiments of thepresent application.

FIG. 4 is a schematic view of constitution of the detection assembly ofthe robotic vacuum cleaner illustrated in FIG. 3.

FIG. 5 is a schematic view of constitution of a walking floor statusdetection system for a robotic vacuum cleaner according to an embodimentof the present application.

FIG. 6 is a schematic view of constitution of a robotic vacuum cleaneraccording to an embodiment of the present application.

FIG. 7 is a schematic view of a robotic vacuum cleaner according to anembodiment of the present application.

FIG. 8 is a schematic view of some other embodiments of a robotic vacuumcleaner according to the present application.

FIG. 9 is a schematic view showing positional relationship of threetransmitters illustrated in FIG. 8.

FIG. 10 is a flow chart of a method for detecting a walking floor statusof a robotic vacuum cleaner according to an embodiment of the presentapplication.

FIG. 11 is a flow chart of a method for controlling a robotic vacuumcleaner according to an embodiment of the present application.

FIG. 12 is a flow chart of some other embodiments of a method forcontrolling a robotic vacuum cleaner according to the presentapplication.

REFERENCE NUMERALS

detection assembly 100,

optical transmitter 1 (1 a, 1 b, 1 c), optical receiver 2, chargingalignment device 3 (3 a, 3 b), detection assembly body 4,

sensor 5 (5 a, 5 b, 5 c), optical transmitting element 51, opticalreceiving element 52,

detection circuit 200, controller 300, machine body 400, movable body41, protective casing 42,

system 500, robotic vacuum cleaner 600, first sensing device 700.

DETAILED DESCRIPTION OF THE DISCLOSURE

Embodiments of the present application will be described in detail andexamples of the embodiments will be illustrated in the drawings, wheresame or similar reference numerals are used to indicate same or similarmembers or members with same or similar functions. The embodimentsdescribed herein with reference to the accompanying drawings areexplanatory, which are used to illustrate the present application, butshall not be construed to limit the present application.

The following disclosure provides a lot of different embodiments orexamples to achieve different structures of the present application. Forsimplification of the disclosure of the present application, componentsand arrangements of specific examples are described hereinafter. In oneembodiment, they are merely examples, and are not intended to limit thepresent application. Additionally, the present application may repeatreference numerals and/or letters in different example. The repeat isfor purpose of simplification and clarity, and itself does not indicaterelationship of the discussed various embodiments and/or arrangements.Additionally, the present application provides various examples ofspecific processed and materials.

A detection assembly 100 for a robotic vacuum cleaner 600 according tosome embodiments of the present application is described below withreference to FIGS. 1 and 2.

In the present application, in order to reduce investment in molds andsimplify assembly steps, a composite structure of an optical transmitter1, an optical receiver 2 and a charging alignment device 3 (e.g., arecharging fine alignment infrared light) is firstly designed. In oneembodiment, a photon time of flight (TOF) based sensor is employed,which performs distance measurement by measuring time difference betweenphoton transmission and reception, and will not be affected by lightdissipation intensity like infrared. In order to ensure that TOF canaccurately sense information about an obstacle in front of the roboticvacuum cleaner 600, it may be mounted at an upper middle of a front endof the robotic vacuum cleaner 600. However, in order to receive arecharging infrared signal transmitted by a charging dock, therecharging fine alignment infrared light may be mounted at a middle ofthe front end of the robotic vacuum cleaner.

As illustrated in FIG. 1, the detection assembly 100 for the roboticvacuum cleaner 600 according to embodiments of a first aspect of thepresent application includes: a plurality of optical transmitters 1(e.g., an optical transmitter 1 a, an optical transmitter 1 b and anoptical transmitter 1 c illustrated in FIG. 1), one optical receiver 2,a plurality of charging alignment devices 3 (e.g., a charging alignmentdevice 3 a and a charging alignment device 3 b illustrated in FIG. 1),and a detection assembly body 4. The optical transmitters 1, the opticalreceiver 2, and the recharging fine alignment signal lights 3 are allmounted on the detection assembly body 4. The plurality of opticaltransmitters 1, the one optical receiver 2, the recharging finealignment signal lights 3 and the detection assembly body 4 areintegrated into one piece. In one embodiment, the detection assembly 100is mounted at the upper middle of the front end of the robotic vacuumcleaner 600. In the present application, by arranging the detectionassembly 100 at the front end of the robotic vacuum cleaner 600, afunction of avoiding collisions and obstacles can be realized. In atraditional sensor structure, there is a one-to-one correspondencerelationship between transmitters and receivers. For example, threetransmitters correspond to three receivers, respectively. The more thenumber of devices, the more bulky and complicated the structure is.However, in the present embodiment, the number of the optical receiversis greatly reduced. The present embodiment just uses one opticalreceiver 2 to achieve the function that formerly can only be realized bya plurality of optical receivers, so that the number of devices isreduced, the costs are saved, and further the structure is simplified.Additionally, by integrating the plurality of optical transmitters 1,the one optical receiver 2, the recharging fine alignment signal lights3 and the detection assembly body 4 into one piece, this structure issmaller than the traditional sensor structure, and can further providepositional space for the robotic vacuum cleaner to carry otherfunctional sensors while saving structural space of the front end of therobotic vacuum cleaner.

In one embodiment, the optical transmitters 1 and the optical receiver 2each employ the time of flight (TOF) sensor which performs distancemeasurement by measuring time difference between photon transmission andreception, and will not be affected by light dissipation intensity likeinfrared. However, the present application is not limited to thissolution. For example, the optical transmitters 1 and the opticalreceiver 2 may also be realized by employing hardware such as opticaltracing sensors (OTS).

Although the present embodiment gives a schematic view showing threeoptical transmitters 1, the present application is not limited to thissolution and two, four or more optical transmitters are possible.Furthermore, although the present embodiment gives a schematic viewshowing two recharging fine alignment signal lights 3, the presentapplication is not limited to this solution and three, four or morerecharging fine alignment signal lights are possible. In embodiments ofthe present application, the distance measurement coverage of the frontend can be enlarged by increasing the number of the optical transmitters1, which can be greatly promoted compared with the measurement range ofthe traditional sensor.

In embodiments of the present application, the optical transmitters 1and the optical receiver 2 may not in the same horizontal plane, and theoptical receiver 2 is located at a middle area of the opticaltransmitter 1 a and the optical transmitter 1 c on the left and rightsides, i.e., not beyond vertical positions of the left and right opticaltransmitters. By arranging the optical receiver 2 at the middle area ofthe optical transmitter 1 a, the optical transmitter 1 b and the opticaltransmitter 1 c, signals of the left, middle and right opticaltransmitters 1 can be easily received, and thus can be symmetricallyprocessed on software. However, the present application is not merelylimited to the above-mentioned position.

In embodiments of the present application, the recharging fine alignmentsignal lights 3 may be arranged below/above an area of the opticaltransmitters. In one embodiment, the recharging fine alignment signallights 3 and the optical transmitters 1 are not in the same horizontalplane. The function of the recharging fine alignment signal lights 3 isto determine direction of the charging dock according to strengthrelationship between the received left and right infrared signals, tocontrol the robotic vacuum cleaner to return to the charging dock.

FIG. 2 is a schematic diagram showing layout positional relationship ofa multi-channel TOF sensor according to an embodiment of the presentapplication. As illustrated in FIG. 2, a three-channel TOF sensor istaken as an example, the optical transmitter 1 a, the opticaltransmitter 1 b and the optical transmitter 1 c are TOF transmittinglights, and the optical receiver 2 is a TOF receiving light. The threetransmitting lights transmit optical signals with different codedwaveforms, and the receiving light determines which channel'stransmitting light detects obstacle information by reading receptionsequence signal and further determine a relative position between theobstacle and the robotic vacuum cleaner.

In embodiments of the present application, relative distance between theoptical transmitter 1 a, the optical transmitter 1 b and the opticaltransmitter 1 c satisfies a relationship. For example, a distancebetween adjacent optical transmitters 1 of the detection assembly 100 isless than 50 mm, but it is not merely limited to the afore-mentioneddistance.

In embodiments of the present application, relative angle between theoptical transmitter 1 a, the optical transmitter 1 b and the opticaltransmitter 1 c satisfies a relationship. For example, a normal anglebetween adjacent optical transmitters 1 is greater than 0° and less than90°, but it is not limited to the afore-mentioned angle.

In embodiments of the present application, based on the TOF sensor, theOTS sensor, etc., identification and avoidance of obstacles canrealized, and the former infrared sensor can be replaced, to eliminateinfluence of the ambient light change on a traditional infrared distancemeasurement, and bring a better user experience to consumers.

A detection assembly for a robotic vacuum cleaner according to someother embodiments of the present application is described below withreference to FIGS. 3 and 4, for realizing functions of downward lookingand edge cleaning. This detection assembly can be used separately or inconjunction with the detection assembly in Embodiment 1.

TOF itself has a distance measurement function, and thus derives aseries of functions such as measuring a height from a floor and a widthfrom a wall of the robotic vacuum cleaner, so that traditional deviceswith infrared downward-looking, edge cleaning or other similar functionscan be replaced. Since a photon time of flight (TOF) based sensor isemployed, which performs distance measurement by measuring timedifference between photon transmission and reception, and will not beaffected by light dissipation intensity like infrared, its accuracy isimproved significantly.

As illustrated in FIG. 3, the detection assembly for the robotic vacuumcleaner according to embodiments of the present application includes: aplurality of sensors 5 (e.g., a sensor 5 a, a sensor 5 b and a sensor 5c illustrated in FIG. 3). The plurality of sensors 5 are mounted to abody of the robotic vacuum cleaner. In one embodiment, the sensors 5 aremounted at left, middle and right positions of the front end of therobotic vacuum cleaner. As illustrated in FIG. 4, each sensor 5 mayinclude one optical transmitting element 51 and one optical receivingelement 52. For example, each sensor 5 may include one transmittinglight 51 and one receiving light 52.

In one embodiment, each of the sensors 5 employs a time of flight (TOF)sensor, which performs distance measurement by measuring time differencebetween photon transmission and reception, and will not be affected bylight dissipation intensity like infrared. However, the presentapplication is not limited to this solution. For example, the sensor 5may also be realized by employing hardware such as an optical tracingsensor (OTS), an infrared ranging sensor, a lidar, a ultrasonic sensor,etc.

Although the present embodiment gives a schematic view showing threesensors, the present application is not limited to this solution, andtwo, four or more sensors are possible. In embodiments of the presentapplication, the distance measurement coverage of the front end can beenlarged by increasing the number of the sensors 5, which can be greatlypromoted compared with the measurement range of the traditional sensor.

Similarly, this structure may also be used as an edge cleaning sensor onbasis of distance measurement principle of TOF itself, to replace thefunction of a traditional infrared edge cleaning sensor, and havesignificantly improved accuracy.

In embodiments of the present application, based on the TOF sensor, theOTS sensor, etc., the former infrared sensor can be replaced, toeliminate influence of the ambient light change on a traditionalinfrared distance measurement, and bring a better user experience toconsumers.

As illustrated in FIG. 5, a walking floor status detection system 500for a robotic vacuum cleaner according to embodiments of the presentapplication includes: a detection assembly 100 of the above-describedEmbodiment 1; a detection circuit 200, the detection circuit 200 beingelectrically coupled to the optical receiver 2, to calculate and processan electrical signal of the optical receiver 2, and generate an outputsignal; and a controller 300, the controller 300 being electricallycoupled to the detection circuit 200 to receive the output signal, andafter the output signal is received, calculate and convert the outputsignal into a spacing value between the detection assembly 100 and anexternal reflection face.

When the external reflection face is an obstacle, the controller 300 isconfigured to determine that an obstacle is present when the spacingvalue between the detection assembly 100 and the external reflectionface falls within a preset threshold range, and determine that anobstacle is not present when the spacing value between the detectionassembly 100 and the external reflection face does not fall within thepreset threshold range.

When the external reflection face is a walking floor, the controller 300is configured to determine that the walking floor is even when thespacing value between the detection assembly 100 and the externalreflection face falls within the preset threshold range, and todetermine that the walking floor is uneven when the spacing valuebetween the detection assembly 100 and the external reflection face doesnot fall within the preset threshold range.

Correspondingly, the optical transmitter 1 a, the optical transmitter 1b and the optical transmitter 1 c may be arranged to transmit lighttowards an underneath of the robotic vacuum cleaner 600, to detectwhether road surface on which the robot walks is even. The opticaltransmitter 1 a, the optical transmitter 1 b and the optical transmitter1 c may also be arranged to transmit light towards left, right, front orrear side to realize detection of surrounding obstacles.

In one embodiment, the controller 300 is configured to send a stop orturn instruction when an obstacle is not present or the walking floor isuneven, to control the robotic vacuum cleaner to stop moving or to turn.

As illustrated in FIG. 6, the robotic vacuum cleaner 600 according toembodiments of the present application includes: a machine body 400; anda walking floor status detection system 500 for a robotic vacuum cleaneras described in Embodiment 3. The detection assembly 100 is located at afront part of the machine body 400, to detect an outside obstacle bymeans of the detection assembly 100 disposed at the front part, or tomeasure a height of the robotic vacuum cleaner 600 from the floor bymeans of the detection assembly 100.

In one embodiment, the machine body of the robotic vacuum cleaner 600 isinternally provided with a circuit board. The circuit board is used toinstall and integrate some electric elements of the robotic vacuumcleaner, and realize electrical coupling of various electric elements.

The robotic vacuum cleaner 600 may include the machine body, and adustbox, a blower, the circuit board and the like disposed in themachine body. The dustbox is used to accommodate and store dust, hair,etc. cleaned by the robotic vacuum cleaner, to realize the cleaningfunction of the robotic vacuum cleaner. The machine body is externallyprovided with a drive wheel, a universal wheel and other assemblies. Thedrive wheel is used to realize movement of the robotic vacuum cleaner,and the universal wheel is used to realize turning of the robotic vacuumcleaner. After receiving an output signal fed back by the detectionassembly 100, the controller 300 controls the universal wheel and thedrive wheel to perform corresponding operations.

For instance, when the detection assembly 100 provided at a left side ofthe robotic vacuum cleaner 600 send an output signal indicatingcollision with an obstacle, the controller 300 may control the drivewheel to turn to the right to avoid the obstacle.

A robotic vacuum cleaner 600 according to a specific embodiment of thepresent application is further elaborated below in conjunction with theattached drawings.

As illustrated in FIG. 7, the present embodiment provides a roboticvacuum cleaner 600 including a machine body 400, and the machine body400 includes:

a movable body 41 used for movement of the robotic vacuum cleaner 600;and

a protective casing 42 movably mounted on an outer side of the movablebody 41, and used to reduce a distance from a top of the movable body 41from a first distance to a second distance under action of a topobstacle.

The robotic vacuum cleaner 600 further includes: a first sensing device700 at least partially located between the movable body 41 and theprotective casing 42 and used to generate a first detection signalindicating that the top obstacle is detected when the distance from theprotective casing 42 to the top of the movable body 41 is reduced fromthe first distance to the second distance; and

a controller 300 is coupled to the first sensing device 700, located inthe movable body 41, and used to control the movable body 41 to retreataccording to the first detection signal.

The robotic vacuum cleaner 600 may be a floor robotic vacuum cleaner 600that can move on a floor, a desktop, or other positions. The roboticvacuum cleaner 600 includes but is not limited various floor cleaningrobots, floor disinfection robots, or the like.

The movable body 41 includes:

a movable chassis;

a movable casing mounted on the movable chassis, and constituting anouter surface of the movable body 41, the movable casing and the movablechassis defines an internal space of the movable body 41;

a cleaning unit mounted to a lower part of the movable chassis andconfigured to perform cleaning by rubbing against the floor or supportsurface; and

a disinfection unit including a disinfectant nozzle oriented away fromthe movable chassis, and configured to spray disinfectant onto the flooror a supporting surface except the floor.

In short, in the present embodiment, the robotic vacuum cleaner 600 maybe any movable structure.

In some embodiments, the robotic vacuum cleaner 600 uses itself as areference, it can move in two opposite directions, one is a forwarddirection of the robotic vacuum cleaner 600, and one is a backwarddirection of the robotic vacuum cleaner 600. An angle between the movingdirection and the backward direction is 180 degrees. If the roboticvacuum cleaner 600 needs to move in other direction, orientation of itsmovable chassis needs to be adjusted to align its front end or rear endopposite the front end with this direction. In the present embodiment,the protective body is located at the front end of the robotic vacuumcleaner 600.

In some embodiments, the movable body 41 may have a cuboid shape, acylinder shape or an arbitrary shape. In the present embodiment, themovable body 41 may have a cylindrical shape. The movable body 41 iscylindrical, and its peripheral surface is arc, which can reduce fiercecollision with the obstacle during movement of the movable body 41, andfacilitate movement of the robotic vacuum cleaner 600.

The protective casing 42 is mounted at an outer side of the movable body41, and in the present embodiment, is movably mounted at the outer sideof the movable body 41.

In the present embodiment, the protective casing 42 is fitted over thefront end of the movable body 41 in the forward direction.

In the present embodiment, the protective casing 42 may be a strikerplate that has strong anti-collision capacity, and is not easy to bedamaged after collision with the obstacle, to protect the movable body41.

The protective casing 42 is movably mounted on the movable body 41, andhas a certain moving space in a direction perpendicular the supportsurface of the movable body 41. In this case, the state of theprotective casing 42 is distinguished by a spacing between theprotective casing 42 and the top of the movable body 41, and thus theprotective casing 42 has a first state and a second state. In the firststate, a gap exists between the protective casing 42 and the movablebody 41, and for example, the gap may be between 1-3 centimeters. Thatis, there is spacing of 1 cm or more between an inner surface of a topplate of the protective casing 42 and an outer surface of the top of themovable body 41, when the protective casing 42 is in the first state.

When the protective casing 42 is in the second state, the protectivecasing 42 moves towards the top of the movable body 41, and in theultimate second state, the top plate of the protective casing 42 abutthe top of the movable body 41.

In some embodiments, the top of the movable body 41 is provided with anelastic device. The elastic device has a first deformation quantity whenthe protective casing 42 is in the first state, and can support theprotective casing 42; when the protective casing 42 is in the secondstate, the elastic device is compressed and has a second deformationquantity, and in this way, the protective casing 42 may approach the topof the movable body 41.

Therefore, when there is an obstacle at the top of the movable body 41,the top of the protective casing 42 will interact with the obstacleprior to the movable body 41. Furthermore, the top of the protectivecasing 42 also exposes the first sensing device 700, and the firstsensing device 700 may be used to detect the top obstacle, and generatethe first detection signal indicating that the top obstacle is present.

The controller 300 may include various types of devices that haveinformation processing functions, such as microprocessors, embeddedcontrollers, digital signal processors, or programmable arrays. Thecontroller 300 is located in the internal space defined by the movablecasing and the movable chassis of the movable body 41, and formerlyestablishes an electrical coupling with the first sensing device 700. Inthis way, after the first sensing device 700 transmits the firstdetection signal to controller, the controller knows that there is a topobstacle ahead, the robotic vacuum cleaner 600 is not suitable to moveon, and at this time, the controller will control the movable body 41 toretreat, to move in a direction that has been passed before and wherethere is no top obstacle.

The protective casing 42 can move up and down in a perpendiculardirection of the support surface of the robotic vacuum cleaner 600,thus, when the first sensing device 700 detects a top obstacle, therobotic vacuum cleaner 600 can still move, to prevent the robotic vacuumcleaner 600 from being stuck directly by the top obstacle. Therefore,the robotic vacuum cleaner 600 provided by the present embodiment notonly has detection function of a top obstacle, but can also returnsuccessfully after encountering a top obstacle to avoid stuckphenomenon, improving intelligence and user satisfaction of the roboticvacuum cleaner 600.

In the present embodiment, the first sensing device 700 is at leastpartially located between the top of the movable body 41 and an innerside of the top plate of the protective casing 42. That is, the firstsensor is at least partially located between fitting faces of themovable body 41 and the top of the protective casing 42.

In some other embodiments, as illustrated in FIG. 7, the first sensingdevice 700 may further have a part penetrating the top plate of theprotective casing 42 and located at the top of the protective casing 42,and the first sensing device 700 may interact with the top obstacle, tomove the protective casing 42 downward and thus generate the firstdetection signal.

Further, the first sensing device 700 includes:

a mechanical switch located between the movable body 41 and theprotective casing 42 and configured to generate the first detectionsignal when interacting with the top obstacle and send the firstdetection signal to the controller.

In the present embodiment, the first sensing device 700 includes one ormore mechanical switches located between the protective casing 42 andthe top of the movable body 41. Each mechanical switch includes a firstend and a second end. If the first end is provided at the inner side ofthe top plate of the protective casing 42, then the second end isprovided at the top of the movable body 41; if the first end is providedat the top of the movable body 41, then the second end is provided atthe inner side of the top of the protective casing 42. The first end andthe second end may be made of conductor material having electricallyconductive function. For example, the first end and the second end mayboth be metal contacts, if the two metal contacts are in contact witheach other, then a conductive path may be formed to generate the firstdetection signal indicating that the top obstacle is present.

Under normal circumstances, the second end is separated from the firstend, when the protective casing 42 interacts with the top obstacle, theprotective casing 42 drives one of the first end and the second end tomove to the other, to generate the first detection signal representingthat a top obstacle is detected.

For example, the number of the mechanical switches is N, the Nmechanical switches are equiangular distributed on the top plate of theprotective casing 42. The value of N may be 2, 3, 4, etc.

In the present embodiment, the first sensing device 700 includes one ormore mechanical switches.

In some other embodiments, the first sensing device 700 may also be:

a pressure sensor. A pressure-receiving face is located at the top ofthe movable body, and the top of the protective casing 42 is internallyprovided with a pressure-applying component that can apply pressure tothe pressure-receiving face. If the top obstacle acts, thepressure-receiving face will be subject to a force of thepressure-applying component moving downwards with the protective casing42, and thus the pressure sensor detects an increased pressure andgenerates a pressure signal indicating that the top obstacle isdetected.

In short, the structure of the first sensing device 700 may be various,and specific implementation is not limited to any of the above.

In some embodiments, the protective casing 42 is an arc-shapedprotective casing 42 at least having a first surface and an arc-shapedperipheral surface and located a forward end of the movable body 41;

the first surface is covered on the top of the movable body 41; and

the arc-shaped peripheral surface is coupled to the first surface andcovered on a side face of the movable body 41.

The arc-shaped peripheral surface matches an arc of the side face of themovable body 41.

An angle of the arc-shaped peripheral surface in a circle may be between120 degrees and 180 degrees, such as 135 degrees, etc.

The first surface is an exposed surface of the top of the protectivecasing 42.

In the present embodiment, an angle of 85 to 95 degrees, such as, 90degrees, etc., may be formed between the first surface and thearc-shaped peripheral surface.

In some embodiments, the arc-shaped peripheral surface includes:

a first area located at a first end portion of the arc-shaped peripheralsurface;

a second area located at a second end portion of the arc-shapedperipheral surface, the second end portion is an opposite end of thefirst end portion; and

a third area located between the first area and the second area;

the detection assembly 100 of the robotic vacuum cleaner 600 is at leastpartially exposed at an outer side of the third area of the arc-shapedperipheral surface and configured to detect an obstacle ahead;

the third area is smaller than the first area and the second area.

In the present embodiment, the arc-shaped peripheral surface is dividedinto three areas. The third area is located at a middle of the circulararc-shaped peripheral surface, a central point of the circulararc-shaped peripheral surface is located in the third area, and thefirst area and the second area are on two sides of the third arearespectively.

The first area and the second area may be symmetrically distributed ontwo sides of the third area.

In the present embodiment, the detection assembly 100 is concentrated inthe third area, rather than dispersed in various areas of the circulararc-shaped peripheral surface. In this way, the first area and thesecond area may be used to mount other devices.

In some embodiments, the third area may an area recessed towards acenter of the movable body 41 relative to the first area and/or thesecond area. In this way, a top of the detection assembly exposedthrough the third area will not be higher than the first area and/orsecond area, so that when collision with an obstacle ahead, damage tothe detection assembly 100 due to direct action on the detectionassembly 100 can be reduced.

In some other embodiments, the part of the detection assembly 100exposed from an outer surface of the third area is provided with anadditional protective cover to protect the detection assembly 100.

Further, a center line of the arc-shaped peripheral surface is adividing line of the third area; the first area and the second area aresymmetrically distributed at two sides of the third area; and the thirdarea is smaller than the first area and the second area.

As illustrated in FIG. 8, the detection assembly 100 includes:

at least two optical transmitters 1 (e.g., the optical transmitter 1 a,the optical transmitter 1 b and the optical transmitter 1 c illustratedin FIG. 8) located in a first plane and used to send a second detectionsignal for an obstacle ahead; and

at least one optical receiver 2 located in a second plane and configuredto receive a feedback signal returned by the obstacle ahead where thesecond detection signal is acted on. The second plane is parallel to thefirst plane.

For example, the number of the optical receivers 2 is not more than thenumber of the optical transmitters 1.

The second detection signal herein may be various wireless signals, suchas an infrared signal, an ultrasonic signal, a laser signal, or anultraviolet signal, etc.

In the present embodiment, the second detection signal may be theinfrared signal which has a low hardware cost and excellent detectioneffect.

The first plane and second plane may be both parallel to a plane of thesupport surface of the robotic vacuum cleaner 600. If the robotic vacuumcleaner 600 is placed in a horizontal plane, then the first plane andsecond plane are both parallel to the horizontal plane, but the firstplane and the second plane are horizontal planes of different heights ina vertical plane.

Further, the at least two optical transmitters 1 are symmetricallydistributed with respect to a center line of the protective casing 42perpendicular to the support plane of the movable body.

In the present embodiment, the number of the optical transmitters 1 maybe 2 to 6, or may be 3 or 4.

For example, three optical transmitters 1 are provided, relative layoutrelationship of the three optical transmitters 1 can refer to FIG. 9, asfollows.

The optical transmitter 1 a, the optical transmitter 1 b and the opticaltransmitter 1 c may be distributed equiangular in the third area.

Transmission angles of the optical transmitter 1 a, the opticaltransmitter 1 b and the optical transmitter 1 c are oriented todifferent directions. For example, a transmission angle of each of thethree optical transmitters 1 is 2B; and center lines of the threeoptical transmitter 1 angles are connected to form two A angles. Thecenter line of the optical transmitter 1 b exactly bisects an angleformed by center lines of the optical transmitter 1 a and the opticaltransmitter 1 c.

In some embodiments, as illustrated in FIG. 8, the robotic vacuumcleaner 600 also includes:

at least two charging alignment devices 3 (e.g., a charging alignmentdevice 3 a and a charging alignment device 3 b illustrated in FIG. 8)exposed through the arc-shaped peripheral surface of the protectivecasing 42 and located in a third plane. The third plane is parallel tothe first plane and the second plane.

The charging alignment devices 3 are used as a device that performsdirection alignment when the robotic vacuum cleaner 600 moves onto anautomatic charging dock. The charging alignment device 3 may include: awireless signal receiver, which can receive a wireless signaltransmitted by the transmitter of the alignment device to adjustmovement direction of the robotic vacuum cleaner 600, and realizing thealignment.

In the present embodiment, the at least two charging alignment devices 3are provided in the third plane. The third plane is parallel to theabove described first and second planes, and at same time is differentfrom the first and second planes.

Further, the at least two charging alignment devices 3 are symmetricallydistributed in the third area with respect to the at least one opticalreceiver 2.

For example, the detection assembly 100 includes one optical receiver 2,and two the charging alignment devices 3, and the two charging alignmentdevices 3 may be symmetrically distributed at two sides of the opticalreceiver 2. Further, the optical receiver 2 may be provided in a centerline of the arc-shaped peripheral surface. In this way, the two chargingalignment devices 3 are symmetrically distributed with respect to theoptical receiver 2 on the arc-shaped peripheral surface.

In some other embodiments, the at least two optical transmitters 1 areused to transmit the second detection signal according to a rotationalsequence;

the controller 300 is used to determine a parameter of an obstacle aheadaccording to the feedback signal submitted by the at least one opticaltransmitter 1 and the optical transmitter 1 whose second detectionsignal corresponds to the feedback signal, and control the roboticvacuum cleaner 600 to move forward according to the parameter of theobstacle ahead.

For example, two adjacent optical transmitters 1 performs a rotationalcycle of transmission of the second detection signal by the opticaltransmitter 1 in a predetermined millisecond or referred to as arotational time unit.

The number of the at least two optical transmitters 1 is M. The mthoptical transmitter 1 is used to transmit the second detection signal inthe mth specified direction in m*n+m rotational cycle. m is an integernot less than 2 and not greater than M; and n is 0 or a positiveinteger.

Suppose the number of the optical transmitters 1 is 3, the opticaltransmitters 1 may take turns to send the second detection signal asfollows:

the first optical transmitter 1 a is used to transmit the seconddetection signal in the first specified direction in 3n+1 rotationalcycle, n is a natural number, specifically, 0 or a positive integer;

the second optical transmitter 1 b is used to transmit the seconddetection signal in the second specified direction in 3n+2 rotationalcycle; and

the third optical transmitter 1 c is used to transmit the seconddetection signal in the third specified direction in 3n+3 rotationalcycle.

Any two of the first specified direction, the second specifieddirection, and the third specified direction are different.

In the present embodiment, only one the optical receiver 2 may beprovided. The one optical receiver 2 is equivalent to being shared bythe at least two optical transmitters 1, to reduce the number of theoptical receiver 2 and save hardware cost.

In some embodiments, the parameter of the obstacle ahead includes atleast one of the followings:

an indication parameter indicating whether there is an obstacle at apredetermined distance ahead;

a distance of the obstacle ahead relative to the robotic vacuum cleaner600; and

an angle of the obstacle ahead relative to the robotic vacuum cleaner600;

and/or,

the controller 300 is used to adjust a forward direction and/or aforward speed of the robotic vacuum cleaner 600 according to theparameter of the obstacle ahead.

In the present embodiment, transmitting power of the optical transmitter1 may be fixed, and thus a distance that transmitted wireless signalencounters the obstacle ahead to return and reach the optical receiver 2is relatively fixed. Therefore, in the present embodiment, thecontroller 300 may determine whether there is an obstacle within apredetermined distance ahead according to whether the optical receiver 2receives the feedback signal, to obtain the indication parameter.

After the second detection signal is transmitted, if there is a returnedfeedback signal on basis of the second detection signal, a distance ofthe obstacle ahead from robotic vacuum cleaner 600 can be estimatedaccording to transmitting time of second detection signal and receivingtime of the feedback signal, as well as propagation speeds of the seconddetection signal and the feedback signal in the air.

In the present embodiment, any of the at least two optical transmitters1 has a different orientation, and can be used to detect obstacles indifferent angles relative to the robotic vacuum cleaner 600.

In the present embodiment, the controller can determine the angle of theobstacle ahead relative to the robotic vacuum cleaner 600 on basis ofthe transmission angle of the second detection signal, a receiving angleof the feedback signal, etc.

As illustrated in FIG. 10, a walking floor status detection method for arobotic vacuum cleaner according to embodiments of the presentapplication includes:

S1: test light is transmitted towards an external reflection face.

S2: light reflected by the external reflection face is received, and alight intensity signal is converted into an electrical signal.

S3: the electrical signal is calculated and processed, and an outputsignal is sent; and

S4: the output signal is calculated and converted into a spacing valuebetween a detection assembly and an external reflection face, andpositional information of the external reflection face is determinedaccording to whether the spacing value is fall within a preset thresholdrange.

Thus, the present embodiment calculates and processes an electricalsignal fed back by a TOF optical receiver, performs distance measurementby measuring time difference between photon transmission and reception,and will not be affected by light dissipation intensity like infrared.

In the walking floor status detection method for the robotic vacuumcleaner according to embodiments of the present application, when thespacing value between the detection assembly and the external reflectionface falls within the preset threshold range, it is determined that thewalking floor is normal or an obstacle is detected; when the spacingvalue between the detection assembly and the external reflection facedoes not fall within the preset threshold range, it is determined thatthe walking floor is uneven or no obstacle is detected.

As illustrated in FIG. 11, a control method for a robotic vacuum cleaner600 according to embodiments of the present application includes:

at block S110: when a protective casing 42 of the robotic vacuum cleaner600 is under action of a top obstacle, and a distance between theprotective casing 42 of the robotic vacuum cleaner 600 and a top of themovable body 41 of the robotic vacuum cleaner 600 is reduced from afirst distance to a second distance, a first sensing device 700 at leastpartially located at the protective casing 42 and the top of the movablebody 41 generates a first detection signal indicating that the topobstacle is detected; and

at block S120: the robotic vacuum cleaner 600 is controlled to retreataccording to the first detection signal.

The control method for the robotic vacuum cleaner 600 provided in thepresent embodiment may be applied in the above-described robotic vacuumcleaner 600.

In the present embodiment, the first sensing device 700 exposed on thetop of the protective casing 42 of the robotic vacuum cleaner 600 isused to detect the top obstacle, to obtain the first detection signal.

At block S120, the robotic vacuum cleaner 600 will be controlled toretreat according to the first detection signal, to reduce a phenomenonthat the robotic vacuum cleaner 600 is stuck in a certain place due tocontinued advancement of the robotic vacuum cleaner 600.

In some embodiments, the method further includes:

In a process of retreat of the robotic vacuum cleaner 600, if only thefirst detection signal for the top obstacle interrupts, the roboticvacuum cleaner 600 is controlled to adjust a forward direction, theadjusted forward direction is different from a forward direction beforethe retreat; and the robotic vacuum cleaner 600 is controlled to moveaccording to the adjusted forward direction.

For example, the forward direction of the robotic vacuum cleaner 600 isadjusted according to a first preset angle, and the preset angle may be30 degrees, 45 degrees, or 90 degrees, etc.

If the top obstacle is detected again within a predetermined time in theprocess of adjusting the forward direction and moving forward, it canretreat again and adjust the forward direction according to a secondpreset angle. Herein, the second preset angle and the first preset anglemay be the same or different.

In the present embodiment, the protective casing 42 can move up and downin a perpendicular direction of the support surface of the roboticvacuum cleaner 600, thus, after initial encounter with the top obstacle,the protective casing 42 itself moves downwards and the robotic vacuumcleaner 600 can retreat smoothly, to reduce a phenomenon of being stuckby the top obstacle.

In some embodiments, as illustrated in FIG. 12, the control methodfurther includes:

at block S210: the detection assembly exposed on an arc-shapedperipheral surface of the protective casing 42 of the robotic vacuumcleaner 600 is used to transmit a second detection signal for detectionof an obstacle ahead;

at block S220: the detection assembly is used to receive a feedbacksignal returned on basis of the second detection signal;

at block S230: a parameter of the obstacle ahead is determined on basisof the second detection signal and the feedback signal; and

at block S240: the robotic vacuum cleaner 600 is controlled to moveforward according to the parameter of the obstacle ahead.

In the present embodiment, the arc-shaped peripheral surface of theprotective casing 42 is also provided with a detection assembly, andthis detection assembly can be used to detect an obstacle ahead.

In the present embodiment, specific structure of the detection assemblymay refer to the above-described embodiments and will not be repeatedherein. In general, the optical transmitter 1 of the detection assemblywill transmit the second detection signal, the optical receiver 2 willreceive the feedback signal returned on basis of the second detectionsignal, and the controller of the robotic vacuum cleaner 600 is informedon basis of the feedback signal, and thus the controller can determinethe parameter of the obstacle ahead on basis of the second detectionsignal and the feedback signal.

The parameter of the obstacle ahead herein may include at least one of adistance, an angle and/or an indication parameter provided by theabove-described embodiments.

In the present embodiment, at block S220, the step may include:

at least two optical transmitters 1 on the arc-shaped peripheral surfaceof the robotic vacuum cleaner 600 transmit the second detection signalaccording to a rotational sequence by utilizing a circuit;

at block S230, the step may include:

the parameter of the obstacle ahead is determined according to thefeedback signal submitted by the at least one optical transmitter 1 andthe optical transmitter 1 whose second detection signal corresponds tothe feedback signal.

If the number of the optical transmitters 1 is M, the step of at leasttwo optical transmitters 1 on the arc-shaped peripheral surface of therobotic vacuum cleaner 600 transmitting the second detection signalaccording to a rotational sequence by utilizing a circuit may include:

the mth optical transmitter 1 is used to transmit the second detectionsignal in the mth specified direction within m*n+m rotational cycle. mis an integer not less than 2 and not greater than M; and n is 0 or apositive integer.

Several specific examples are provided below in combination with any ofthe above-described embodiments:

In the present example, at least one optical receiver 2 and the opticaltransmitters 1 not less than the optical receiver 2 are placed indifferent planes, and the optical transmitters and the optical receiver2 are symmetrically distributed with reference to a symmetrical line ofthe striker plate. Meanwhile, the charging alignment device 3 is locatedin a different plane from that of the optical transmitters and theoptical receiver 2.

Moreover, in order to better detect an obstacle above the machine, andprevent the machine from being stuck in a bottom of the furniture, avertical displacement gap is added to the striker plate and a detectiondevice is added on a fitting face between the striker plate and thewhole machine. When an obstacle above the machine presses the strikerplate, the detection device is triggered, and the machine starts toretreat.

The obstacle detection capacity is promoted while the space of themachine is saved, and the recharging fine alignment is realized.Transmission and reception for the obstacle detection are located indifferent planes, the optical transmitters 1 and the optical receiver 2are symmetrically distributed at two sides of the symmetrical line ofthe striker plate, and the obstacle detection in the vertical directionis realized.

Embodiments may be achieved by commanding the related hardware withprograms. The programs may be stored in a computer readable storagemedium, and the programs include the steps of the above-described methodembodiments when run on a computer; moreover, the storage medium layerincludes: various mediums that can store program codes, such as a mobilestorage device, a read-only memory (ROM), a random access memory (RAM),a magnetic or optical disk, etc.

In the specification of the present application, it is to be understoodthat terms such as “central,” “upper,” “lower,” “vertical,”“horizontal,” “top,” “bottom,” “inner,” “outer,” “axial,” “radial,” and“circumferential” should be construed to refer to the orientation asthen described or as shown in the drawings under discussion. Theserelative terms are for convenience of description and do not requirethat the present disclosure be constructed or operated in a particularorientation.

In addition, terms such as “first” and “second” are used herein forpurposes of description and are not intended to indicate or implyrelative importance or significance or to imply the number of indicatedfeatures. Thus, the feature defined with “first” and “second” mayinclude one or more of this feature. In the description of the presentdisclosure, the term “a plurality of” means two or more than two, unlessspecified otherwise.

In the present application, unless specified or limited otherwise, theterms “mounted,” “connected,” “coupled,” “fixed” and the like are usedbroadly, and may be, for example, fixed connections, detachableconnections, or integral connections; may also be direct connections orindirect connections via intervening structures; may also be innercommunications of two elements or interaction of two elements.

In the present application, unless specified or limited otherwise, astructure in which a first feature is “on” or “below” a second featuremay include an embodiment in which the first feature is in directcontact with the second feature, and may also include an embodiment inwhich the first feature and the second feature are in indirect contactwith each other via an intermediate medium. Furthermore, a first feature“on,” “above,” or “on top of” a second feature may include an embodimentin which the first feature is right or obliquely “on,” “above,” or “ontop of” the second feature, or just means that the first feature is at aheight higher than that of the second feature; while a first feature“below,” “under,” or “on bottom of” a second feature may include anembodiment in which the first feature is right or obliquely “below,”“under,” or “on bottom of” the second feature, or just means that thefirst feature is at a height lower than that of the second feature.

Reference throughout this specification to “an embodiment,” “someembodiments,” “an example,” “a specific example,” or “some examples,”means that a particular feature, structure, material, or characteristicdescribed in connection with the embodiment or example is included in atleast one embodiment or example of the present application. Schematicrepresentations of the above terms throughout this specification are notnecessarily referring to the same embodiment or example. Furthermore,the particular features, structures, materials, or characteristics maybe combined in any suitable manner in one or more embodiments orexamples.

1. A detection assembly for a robotic vacuum cleaner, comprising: aplurality of optical transmitters, one optical receiver and a detectionassembly body; the optical transmitters and the optical receiver beingall mounted on the detection assembly body; the plurality of opticaltransmitters, the one optical receiver and the detection assembly bodybeing integrated into one piece.
 2. The detection assembly according toclaim 1, wherein the optical transmitters and the optical receiver eachemploy a time of flight sensor and/or an optical tracing sensor.
 3. Thedetection assembly according to claim 1, wherein the plurality ofoptical transmitters are located in a same horizontal plane, the opticalreceiver and the optical transmitters are not located in a samehorizontal plane, and the optical receiver is located at a middle areabetween the optical transmitters located at left and right extremepositions.
 4. The detection assembly according to claim 1, furthercomprising a plurality of charging alignment devices also integrated onthe detection assembly body, wherein the charging alignment devices andthe optical transmitters are not located in a same horizontal plane. 5.(canceled)
 6. The detection assembly according to claim 1, whereinrelative distance between two adjacent optical transmitters is less than50 mm.
 7. The detection assembly according to claim 1, wherein a normalangle between two adjacent optical transmitters is greater than 0° andless than 90°.
 8. A robotic vacuum cleaner, comprising: a machine body;and a walking floor status detection system comprising: a detectionassembly according to claim 1, the detection assembly being located at afront part of the machine body of the robotic vacuum cleaner; adetection circuit electrically coupled to the optical receiver, tocalculate and process an electrical signal of the optical receiver andgenerate an output signal; and a controller electrically coupled to theoptical receiver, to receive the output signal and convert the outputsignal into a spacing value between the detection assembly and anexternal reflection face.
 9. The robotic vacuum cleaner according toclaim 8, wherein on basis of the external reflection face being anobstacle, the controller is configured to determine that the obstacle ispresent when the spacing value between the detection assembly and theexternal reflection face falls within a preset threshold range, anddetermine that the obstacle is not present when the spacing valuebetween the detection assembly and the external reflection face does notfall within the preset threshold range.
 10. The robotic vacuum cleaneraccording to claim 8, wherein on basis of the external reflection facebeing a walking floor, the controller is configured to determine thatthe walking floor is even when a spacing value between the detectionassembly and the external reflection face falls within a presetthreshold range, and determine that the walking floor is not even whenthe spacing value between the detection assembly and the externalreflection face does not fall within the preset threshold range, whereinthe controller is configured to send a stop instruction or a turninstruction when an obstacle is present or the walking floor is noteven, to control the robotic vacuum cleaner to stop moving or turn. 11.(canceled)
 12. The robotic vacuum cleaner according to claim 8, whereinthe machine body comprises: a movable body configured for movement ofthe robotic vacuum cleaner; and a protective casing movably mounted onan outer side of the movable body and configured to reduce a distancefrom a top of the movable body from a first distance to a seconddistance under action of a top obstacle; the robotic vacuum cleanerfurther comprises a first sensing device at least partially locatedbetween the movable body and the protective casing, and configured togenerate a first detection signal indicating that the top obstacle isdetected when the distance between the protective casing and the top ofthe movable body is reduced from the first distance to the seconddistance; and the controller is coupled to the first sensing device,located in the movable body, and configured to control the movable bodyto retreat according to the first detection signal.
 13. The roboticvacuum cleaner according to claim 12, wherein the first sensing devicecomprises: a mechanical switch located between the movable body and theprotective casing, and configured to generate the first detection signalwhen the distance between the protective casing and the top of themovable body is less than the first distance, and send the firstdetection signal to the controller.
 14. The robotic vacuum cleaneraccording to claim 12, wherein the protective casing is an arc-shapedprotective casing at least having a first surface and an arc-shapedperipheral surface and located at a forward end of the movable body; thefirst surface is covered on the top of the movable body; and thearc-shaped peripheral surface is coupled to the first surface, andcovered on a side face of the movable body.
 15. The robotic vacuumcleaner according to claim 14, wherein the arc-shaped peripheral surfacecomprises: a first area located at a first end portion of the arc-shapedperipheral surface; a second area located at a second end portion of thearc-shaped peripheral surface, the second end portion being an oppositeend of the first end portion; and a third area located between the firstarea and the second area; wherein the detection assembly is at leastpartially exposed at an outer side of the third area of the arc-shapedperipheral surface and configured to detect an obstacle ahead.
 16. Therobotic vacuum cleaner according to claim 15, wherein the plurality ofoptical transmitters are located in a first plane, and configured totransmit a second detection signal for the obstacle ahead; at least oneoptical receiver is located in a second plane and configured to receivea feedback signal returned by the obstacle ahead where the seconddetection signal is acted on; the second plane is parallel to the firstplane, wherein the detection assembly further comprises: at least twocharging alignment devices exposed through the arc-shaped peripheralsurface of the protective casing and located in a third plane parallelto the first plane and the second plane.
 17. (canceled)
 18. The roboticvacuum cleaner according to claim 16, wherein at least two opticaltransmitters are configured to transmit the second detection signalaccording to a rotational sequence; the controller is configured todetermine a parameter of the obstacle ahead according to the feedbacksignal submitted by at least one optical transmitter and the opticaltransmitter whose second detection signal corresponds to the feedbacksignal, and control the robotic vacuum cleaner to move forward accordingto the parameter of the obstacle ahead.
 19. The robotic vacuum cleaneraccording to claim 18, wherein the parameter of the obstacle aheadcomprises at least one of: an indication parameter indicating whetherthere is an obstacle at a predetermined distance ahead; a distance ofthe obstacle ahead relative to the robotic vacuum cleaner; and an angleof the obstacle ahead relative to the robotic vacuum cleaner; and, thecontroller is configured to adjust a forward direction and a forwardspeed of the robotic vacuum cleaner according to the parameter of theobstacle ahead.
 20. A method for detecting a walking floor status of arobotic vacuum cleaner, the robotic vacuum cleaner being a roboticvacuum cleaner according to claim 8, and the method comprising:transmitting test light towards the external reflection face; receivinglight reflected by the external reflection face, and converting a lightintensity signal of the light into an electrical signal; calculating andprocessing the electrical signal, and sending an output signal; andconverting the output signal into a spacing value between the detectionassembly and the external reflection face, and determining positionalinformation of the external reflection face according to whether thespacing value falls within a preset threshold range.
 21. A method forcontrolling a robotic vacuum cleaner, the robotic vacuum cleaner being arobotic vacuum cleaner according to claim 8, and the method comprising:when a protective casing of the robotic vacuum cleaner is under actionof a top obstacle, and a distance between the protective casing of therobotic vacuum cleaner and a top of a movable body of the robotic vacuumcleaner is reduced from a first distance to a second distance, a firstsensing device at least partially located at the protective casing andthe top of the movable body generating a first detection signalindicating that the top obstacle is detected; and controlling therobotic vacuum cleaner to retreat according to the first detectionsignal.
 22. The method according to claim 21, further comprising: usingthe detection assembly exposed on an arc-shaped peripheral surface ofthe protective casing of the robotic vacuum cleaner to transmit a seconddetection signal for detection of an obstacle ahead; using the detectionassembly to receive a feedback signal returned on basis of the seconddetection signal; determining a parameter of the obstacle ahead on basisof the second detection signal and the feedback signal; and controllingthe robotic vacuum cleaner to move forward according to the parameter ofthe obstacle ahead.
 23. The method according to claim 22, wherein thestep of using the detection assembly exposed on the arc-shapedperipheral surface of the protective casing of the robotic vacuumcleaner to transmit a second detection signal for detection of anobstacle ahead comprises: at least two optical transmitters on thearc-shaped peripheral surface of the robotic vacuum cleaner transmittingthe second detection signal according to a rotational sequence byutilizing a circuit; and the step of determining a parameter of theobstacle ahead on basis of the second detection signal and the feedbacksignal comprises: determining the parameter of the obstacle aheadaccording to the feedback signal submitted by the at least onetransmitter and the transmitter whose second detection signalcorresponds to the feedback signal.